CN210414538U - Manipulator with auxiliary arm - Google Patents
Manipulator with auxiliary arm Download PDFInfo
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- CN210414538U CN210414538U CN201921320089.4U CN201921320089U CN210414538U CN 210414538 U CN210414538 U CN 210414538U CN 201921320089 U CN201921320089 U CN 201921320089U CN 210414538 U CN210414538 U CN 210414538U
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Abstract
The utility model discloses a manipulator with an auxiliary arm, wherein a z-axis moving device is fixedly connected with a base, an x-axis moving device is connected with the z-axis moving device, and a y-axis moving device is connected with the x-axis moving device; the y-axis moving device includes: the device comprises a main arm mechanism and an auxiliary arm mechanism, wherein the main arm mechanism is movably arranged on an x-axis moving device, and the auxiliary arm mechanism is movably arranged on the x-axis moving device; the sub-arm mechanism includes: the first front-back moving mechanism is connected with the x-axis moving device, and the auxiliary wall up-down moving mechanism is connected with the first front-back moving mechanism; the utility model discloses simple structure can realize getting simultaneously and put product and mouth of a river, has improved the production efficiency and the rate of equipment utilization of equipment.
Description
Technical Field
The utility model relates to a manipulator technical field specifically is a manipulator with auxiliary arm.
Background
When the injection molding mold is a three-plate mold, the existing manipulator can only take out the product and cannot take out the water gap, so that the manipulator is necessary to research to realize simultaneous material taking of the water gap and the product.
Disclosure of Invention
The utility model provides a simple structure, convenient to use's manipulator that has the auxiliary arm to solve the technical problem of current production.
In order to solve the technical problem, the utility model provides a following technical scheme: a manipulator with a secondary arm, comprising: the device comprises a base, a z-axis moving device, an x-axis moving device and a y-axis moving device, wherein the z-axis moving device is fixedly connected with the base, the x-axis moving device is connected with the z-axis moving device, and the y-axis moving device is connected with the x-axis moving device; the y-axis moving device includes: the device comprises a main arm mechanism and an auxiliary arm mechanism, wherein the main arm mechanism is movably arranged on an x-axis moving device, and the auxiliary arm mechanism is movably arranged on the x-axis moving device; the sub-arm mechanism includes: the first front-back moving mechanism is connected with the x-axis moving device, and the auxiliary wall up-down moving mechanism is connected with the first front-back moving mechanism.
By adopting the technical scheme, the z-axis moving device drives the x-axis moving device to move left and right, the x-axis moving device drives the main arm mechanism to move front and back, the first front and back pushing cylinder pushes the auxiliary arm mechanism to move front and back, the auxiliary wall up-and-down moving mechanism pushes the auxiliary arm clamping device to move up and down, and the auxiliary arm clamping device is driven to move to a set position to clamp materials.
Further, the sub-arm up-and-down moving mechanism includes: the fly jib connecting plate, first upper and lower push cylinder, first fly jib slider, second reciprocating mechanism, the device is got and the cylinder that falls is prevented to the fly jib clamp, the fly jib connecting plate is connected with x axle mobile device, first upper and lower push cylinder is connected with the fly jib connecting plate, the output of first upper and lower push cylinder is connected with second reciprocating mechanism, first fly jib slider one side is connected with the fly jib connecting plate, the opposite side is connected with second reciprocating mechanism, the bottom of second reciprocating mechanism is equipped with the fly jib and gets the device by the clamp, the cylinder that falls is prevented sets up the below at the fly jib connecting plate, and the output of the cylinder that falls is prevented is in the below of second reciprocating mechanism.
By adopting the technical scheme, the first up-down pushing cylinder pushes the second up-down moving mechanism to move up and down along the first auxiliary arm sliding device, so that the auxiliary arm clamping device is driven to take and place materials; the anti-falling cylinder is a single-action cylinder, a piston rod retracts during ventilation, the piston rod extends out when the air pressure is lower than a set value, and the piston rod of the anti-falling cylinder extends out when the air source of the system is unstable or has no compressed air source, so that the auxiliary arm mechanism is prevented from falling off when the air pressure is low or no compressed air exists, and the damage to the auxiliary arm clamping device is avoided.
Further, the first back-and-forth movement mechanism includes: promote cylinder, cylinder block and cushion seat around first, the cylinder block is connected with the fly jib reciprocating mechanism, promotes cylinder and cylinder block fixed connection around first, and the output that promotes the cylinder around first is connected with the cushion seat, cushion seat and x axle mobile device fixed connection.
By adopting the technical scheme, the first front-back pushing cylinder acts to push the auxiliary arm mechanism to move back and forth along the x-axis moving device.
Further, the main arm mechanism includes: the main arm clamping device comprises a main arm connecting plate, a main arm up-and-down driving motor, a second upright post, a main arm sliding device and a main arm clamping device, wherein the main arm up-and-down driving motor is connected with the main arm connecting plate, one end of the main arm sliding device is connected with the main arm connecting plate, the other end of the main arm sliding device is connected with the second upright post, the output end of the main arm up-and-down driving motor is in transmission connection with the second upright post.
By adopting the technical scheme, the upper and lower driving motors of the main arm are in transmission connection with the second upright post through the belt, and the upper and lower driving motors of the main arm drive the second upright post to move up and down along the main arm sliding device, so as to drive the main arm clamping device to move up and down to clamp a workpiece.
Further, the x-axis moving device includes: the X-axis driving motor is connected with the Z-axis moving device, the X-axis driving motor is connected with the X-axis connecting plate, one side of the X-axis sliding device is connected with the X-axis connecting plate, the other side of the X-axis sliding device is connected with the Y-axis connecting mechanism, and the output end of the X-axis driving motor is in transmission connection with the main arm mechanism.
By adopting the technical scheme, the x-axis driving motor acts to drive the main arm mechanism to move back and forth along the x-axis sliding device.
Further, the z-axis moving device includes: the device comprises a z-axis driving motor, a z-axis connecting plate, a z-axis sliding device and a z-axis transmission device, wherein the z-axis transmission device is arranged above a base, one side of the z-axis sliding device is connected with the base, the other side of the z-axis sliding device is connected with the z-axis connecting plate, the z-axis driving motor is arranged above the z-axis connecting plate, and the output end of the z-axis driving motor is connected with the z-axis transmission device.
By adopting the technical scheme, the output end of the z-axis driving motor drives the z-axis transmission device to rotate, so that the z-axis connecting plate is driven to move along the z-axis sliding device, and the x-axis moving device is driven to move left and right.
Compared with the prior art, the utility model has the advantages of it is following: the z-axis moving device drives the x-axis moving device to move left and right, the x-axis moving device drives the main arm mechanism to move back and forth, the main arm clamping device is further driven to take and place corresponding workpieces, the first front and back pushing cylinder pushes the auxiliary arm mechanism to move back and forth, the auxiliary wall up-and-down moving mechanism pushes the auxiliary arm clamping device to move up and down, and the auxiliary arm clamping device is driven to move to a set position to take and place materials; the anti-falling cylinder can prevent the auxiliary arm mechanism from falling when the air pressure is low or compressed air is not available, so that equipment is damaged; the utility model discloses simple structure can realize getting simultaneously and put product and mouth of a river, has improved the production efficiency and the rate of equipment utilization of equipment.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a structure diagram of the auxiliary arm mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the main arm mechanism of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
Referring now to FIG. 1: a manipulator with a secondary arm, comprising: the device comprises a base 1, a z-axis moving device 2, an x-axis moving device 3 and a y-axis moving device 4, wherein the z-axis moving device 2 is fixedly connected with the base 1, the x-axis moving device 3 is connected with the z-axis moving device 2, and the y-axis moving device 4 is connected with the x-axis moving device 3; the y-axis moving device 4 includes: a main arm mechanism 41 and an auxiliary arm mechanism 42, the main arm mechanism 41 being movably disposed above the x-axis moving device 3, the auxiliary arm mechanism 42 being movably disposed above the x-axis moving device 3; the sub-arm mechanism 42 includes: a first back-and-forth moving mechanism 421 and an auxiliary wall up-and-down moving mechanism 422, wherein the first back-and-forth moving mechanism 421 is connected with the x-axis moving device 3, and the auxiliary wall up-and-down moving mechanism 422 is connected with the first back-and-forth moving mechanism 421; the z-axis moving device 2 drives the x-axis moving device 3 to move left and right, the x-axis moving device 3 drives the main arm mechanism 41 to move back and forth, the first front and back pushing cylinder 4211 pushes the auxiliary arm mechanism 42 to move back and forth, the auxiliary wall up-and-down moving mechanism 422 pushes the auxiliary arm clamping device 4225 to move up and down, and the auxiliary arm clamping device 4225 is driven to move to a set position to clamp materials.
Referring now to FIG. 2: the sub-arm up-and-down moving mechanism 422 includes: the auxiliary arm clamping device comprises an auxiliary arm connecting plate 4221, a first up-and-down pushing cylinder 4222, a first auxiliary arm sliding device 4223, a second up-and-down moving mechanism 4224, an auxiliary arm clamping device 4225 and a falling-off prevention cylinder 4226, wherein the auxiliary arm connecting plate 4221 is connected with the x-axis moving device 2, the first up-and-down pushing cylinder 4222 is connected with the auxiliary arm connecting plate 4221, the output end of the first up-and-down pushing cylinder 4222 is connected with the second up-and-down moving mechanism 4224, one side of the first auxiliary arm sliding device 4225 is connected with the auxiliary arm connecting plate 4221, the other side of the first auxiliary arm sliding device 4225 is connected with the second up-and-down moving mechanism 4224, the auxiliary arm clamping device 4225 is arranged at the bottom of the second up-and-down moving mechanism 4224, the falling-off prevention cylinder 4226 is arranged.
The first up-down pushing cylinder 4222 pushes the second up-down moving mechanism 4224 to move up and down along the first sub-arm sliding device 4223, and further drives the sub-arm clamping device 4225 to take and place materials; the anti-falling cylinder 4226 is a single-acting cylinder, a piston rod retracts during ventilation, the piston rod extends out when the air pressure is lower than a set value, and the piston rod of the anti-falling cylinder 4226 extends out when the air pressure of the system is unstable or the air pressure of the system is not compressed, so that the auxiliary arm mechanism 42 is prevented from falling off when the air pressure is low or the air pressure is not compressed, and the auxiliary arm clamping device 4225 is prevented from being damaged.
Referring now to FIG. 2: the first back-and-forth movement mechanism 421 includes: the first front and rear pushing cylinder 4211, a cylinder seat 4212 and a buffer seat 4213, wherein the cylinder seat 4212 is connected with the auxiliary arm up-down moving mechanism 422, the first front and rear pushing cylinder 4211 is fixedly connected with the cylinder seat 4212, the output end of the first front and rear pushing cylinder 4211 is connected with the buffer seat 4213, and the buffer seat 4213 is fixedly connected with the x-axis moving device 3; the first forward/backward pushing cylinder 4211 operates to push the sub-arm mechanism 42 to move forward and backward along the x-axis moving device 3.
Referring now to FIG. 3: the main arm mechanism 41 includes: the main arm clamping device comprises a main arm connecting plate 411, a main arm up-down driving motor 412, a second upright post 413, a main arm sliding device 414 and a main arm clamping device 415, wherein the main arm up-down driving motor 412 is connected with the main arm connecting plate 411, one end of the main arm sliding device 414 is connected with the main arm connecting plate 411, the other end of the main arm sliding device 414 is connected with the second upright post 413, the output end of the main arm up-down driving motor 412 is in transmission connection with the second upright post 413, and the main arm clamping device 415; the main arm up-and-down driving motor 412 is in transmission connection with the second upright column 413 through a belt, and the main arm up-and-down driving motor 412 drives the second upright column 413 to move up and down along the main arm sliding device 414 to drive the main arm clamping device 415 to move up and down to clamp a workpiece.
The x-axis moving device 3 includes: the X-axis driving mechanism comprises an X-axis driving motor 31, an X-axis connecting plate 32 and an X-axis sliding device 33, wherein the X-axis connecting plate 32 is connected with the Z-axis moving device 2, the X-axis driving motor 31 is connected with the X-axis connecting plate 32, one side of the X-axis sliding device 33 is connected with the X-axis connecting plate 31, the other side of the X-axis sliding device 33 is connected with the Y-axis connecting mechanism 4, and the output end of the X-axis driving motor 31 is in transmission connection with a main; the x-axis drive motor 31 operates to drive the main arm mechanism 41 to move forward and backward along the x-axis slide device 33.
The z-axis moving device 2 includes: the device comprises a z-axis driving motor 21, a z-axis connecting plate 22, a z-axis sliding device 23 and a z-axis transmission device 24, wherein the z-axis transmission device 24 is arranged above a base 1, one side of the z-axis sliding device 23 is connected with the base, the other side of the z-axis sliding device 23 is connected with the z-axis connecting plate 22, the z-axis driving motor 21 is arranged above the z-axis connecting plate 22, and the output end of the z-axis driving motor 21 is connected with the z-axis transmission device 24; the output end of the z-axis driving motor 21 drives the z-axis transmission device 24 to rotate, and further drives the z-axis connecting plate 22 to move along the z-axis sliding device 23, so that the x-axis moving device 3 moves left and right.
The utility model discloses an application principle: the z-axis moving device 2 drives the x-axis moving device 3 to move left and right, the x-axis moving device 3 drives the main arm mechanism 41 to move front and back, the first front and back pushing cylinder 4211 pushes the auxiliary arm mechanism 42 to move front and back, the auxiliary arm up-and-down moving mechanism 422 pushes the auxiliary arm clamping device 4225 to move up and down, and drives the auxiliary arm clamping device 4225 to move to a set position to clamp materials; the main arm mechanism works: the main arm up-and-down driving motor 412 is operated to drive the second upright column 413 to move up and down along the main arm sliding device 414, and drive the main arm clamping device 415 at the bottom to move up and down to pick and place workpieces; the working process of the auxiliary arm mechanism is as follows: the first up-down pushing cylinder 4222 pushes the second up-down moving mechanism 4224 to move up and down along the first sub-arm sliding device 4223, and further drives the sub-arm clamping device 4225 to take and place materials.
It should be finally noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, it should be understood by those skilled in the art that after reading the present specification, the technical personnel can still modify or equivalently replace the specific embodiments of the present invention, but these modifications or changes do not depart from the scope of the claims of the present application.
Claims (6)
1. A manipulator with a secondary arm, comprising: the device comprises a base, a z-axis moving device, an x-axis moving device and a y-axis moving device, wherein the z-axis moving device is fixedly connected with the base, the x-axis moving device is connected with the z-axis moving device, and the y-axis moving device is connected with the x-axis moving device; the y-axis moving device includes: the device comprises a main arm mechanism and an auxiliary arm mechanism, wherein the main arm mechanism is movably arranged on an x-axis moving device, and the auxiliary arm mechanism is movably arranged on the x-axis moving device; the sub-arm mechanism includes: the first front-back moving mechanism is connected with the x-axis moving device, and the auxiliary wall up-down moving mechanism is connected with the first front-back moving mechanism.
2. The robot hand with sub-arm according to claim 1, wherein the sub-arm up-and-down moving mechanism comprises: the fly jib connecting plate, first upper and lower push cylinder, first fly jib slider, second reciprocating mechanism, the device is got and the cylinder that falls is prevented to the fly jib clamp, the fly jib connecting plate is connected with x axle mobile device, first upper and lower push cylinder is connected with the fly jib connecting plate, the output of first upper and lower push cylinder is connected with second reciprocating mechanism, first fly jib slider one side is connected with the fly jib connecting plate, the opposite side is connected with second reciprocating mechanism, the bottom of second reciprocating mechanism is equipped with the fly jib and gets the device by the clamp, the cylinder that falls is prevented sets up the below at the fly jib connecting plate, and the output of the cylinder that falls is prevented is in the below of second reciprocating mechanism.
3. The robot hand with the sub-arm according to claim 1, wherein the first back-and-forth moving mechanism comprises: promote cylinder, cylinder block and cushion seat around first, the cylinder block is connected with the fly jib reciprocating mechanism, promotes cylinder and cylinder block fixed connection around first, and the output that promotes the cylinder around first is connected with the cushion seat, cushion seat and x axle mobile device fixed connection.
4. The robot hand with sub-arm according to claim 1, wherein the main arm mechanism comprises: the main arm clamping device comprises a main arm connecting plate, a main arm up-and-down driving motor, a second upright post, a main arm sliding device and a main arm clamping device, wherein the main arm up-and-down driving motor is connected with the main arm connecting plate, one end of the main arm sliding device is connected with the main arm connecting plate, the other end of the main arm sliding device is connected with the second upright post, the output end of the main arm up-and-down driving motor is in transmission connection with the second upright post.
5. The robot with sub-arm of claim 1, wherein the x-axis moving means comprises: the X-axis driving motor is connected with the Z-axis moving device, the X-axis driving motor is connected with the X-axis connecting plate, one side of the X-axis sliding device is connected with the X-axis connecting plate, the other side of the X-axis sliding device is connected with the Y-axis connecting mechanism, and the output end of the X-axis driving motor is in transmission connection with the main arm mechanism.
6. The robot arm with the sub-arm according to claim 1, wherein the z-axis moving means comprises: the device comprises a z-axis driving motor, a z-axis connecting plate, a z-axis sliding device and a z-axis transmission device, wherein the z-axis transmission device is arranged above a base, one side of the z-axis sliding device is connected with the base, the other side of the z-axis sliding device is connected with the z-axis connecting plate, the z-axis driving motor is arranged above the z-axis connecting plate, and the output end of the z-axis driving motor is connected with the z-axis transmission device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921320089.4U CN210414538U (en) | 2019-08-15 | 2019-08-15 | Manipulator with auxiliary arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921320089.4U CN210414538U (en) | 2019-08-15 | 2019-08-15 | Manipulator with auxiliary arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210414538U true CN210414538U (en) | 2020-04-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921320089.4U Active CN210414538U (en) | 2019-08-15 | 2019-08-15 | Manipulator with auxiliary arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210414538U (en) |
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2019
- 2019-08-15 CN CN201921320089.4U patent/CN210414538U/en active Active
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